Comparison of the Control Designs of an Human Co-Working Endoscope Holder

摘要

The research addresses the design of an endoscope holding robot. The minimally invasive surgery (MIS) usually takes many doctors to work together; only one surgeon is actually performing the operation. One of the doctors is required to hold the endoscope and to point the camera at the surgical area. This research aims to design a robot to fulfill the function of this doctor to hold the endoscope in place. This paper demonstrates how to achieve the two main functions of the endoscope holders namely: to maintain the entry point into the body and to actively move away from blocking the doctor in their operation. This paper describes how to achieve these goals based on a regular six degree-of-freedom industrial robots. The control could be implemented at the different levels of control. The experimental results show that the implementation at different level of controls each has its advantages and disadvantages.